Odometry

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10 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.

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  1. Emergency Obstacle Avoidance Maneuvers in Differential-Drive Mobile Robots

    Oct 4, 2026Kautik Mandve, Nilay KantOdometry

    Department of Mechanical and Aerospace Engineering, Missouri University of Science and Technology, Rolla, MO 65409, USA

  2. StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry

    Sep 30, 2026Yufei Wei, Shuhao Ye, Qi Wang +4OdometryMonocular

  3. Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots

    Sep 29, 2026Branimir Ćaran, Vladimir Milić, Bojan Šekoranja +1OdometryWheel

    Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, 10000, Croatia · Croatian Academy of Sciences and Arts, Zagreb, 10000, Croatia

  4. LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots

    Sep 28, 2026Anupam Chatterjee, Arpita KumariControl ArchitectureOdometry

    This work was conducted as independent research and received no financial or institutional support from any organization.

  5. DAVIO: Dense Monocular-Inertial SLAM with Feed-Forward Initialization and Pose-Conditioned Mapping

    Sep 23, 2026Jaafar Mahmoud, Arthur Movsesyan, Mikhail Iumanov +1Simultaneous Localization And MappingOdometry

    Biomechatronics and Energy-Efficient Robotics (BE2R) Lab, ITMO University, Saint Petersburg, Russia.

  6. You Should Be Properly Scoring Your Odometry

    Sep 22, 2026Ola Rønning, Usama Saqib, Andrzej WąsowskiOdometryRobust Lidar-Inertial Odometry

    Software Quality Research Group, IT University of Copenhagen, Denmark

  7. MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark

    Sep 22, 2026Jose Luis Blanco-ClaracoRobust Lidar-Inertial OdometryOdometry

    Engineering Department University of Almer´ıa, Spain

  8. PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

    Sep 20, 2026Xu Han, Angsong Li, Shaopeng Zhang +5OdometryProprioception

    Wuhan University · Agibot

  9. SOL-SLAM: Inverse Compositional Gauss-Newton Direct Registration for Fast Sonar-Only Local SLAM

    Sep 16, 2026Kalvik Jakkala, Jason O'KaneForward-Looking SonarSimultaneous Localization And Mapping

    Texas A&M University

  10. Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry

    Sep 9, 2026Joaquin Caballero, Emilio Garcia-Fidalgo, Alberto Ortiz +1OdometryVisual Inertial Odometry

    Distance Technologies Oy, Helsinki, Finland · Department of Mathematics and Computer Science, Institute of Artificial Intelligence, University of the Balearic Islands, 07122 Palma, Spain

  11. TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry with Adaptive Doppler Weighting

    Sep 3, 2026Chiyun Noh, Turcan Tuna, William Talbot +3Robust Lidar-Inertial OdometryLidar

    Department of Mechanical Engineering, Seoul National University, S. Korea · Robotic Systems Lab (RSL), ETH Zürich, 8092 Zürich, Switzerland · Robotics and AI Institute (RAI), Zürich, Switzerland

  12. TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

    Aug 6, 2026Taehyeon Kong, Woojin Kim, Jemin HwangboOdometryProprioception

    Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, Republic of Korea

  13. PLS-Calib: A Partial Least Squares Framework for Event Camera and Odometry Calibration under Ground Motion Constraints

    Aug 4, 2026Guangyu Li, Xiao Li, Yujie Wu +5Extrinsic CalibrationOdometry

    Guangdong Institute of Intelligence Science and Technology, Zhuhai, China

  14. KING: Embodiment-Aware Kinematic Graph Neural Network for Unified Motion Representation of Legged and Wheeled Robots

    Aug 2, 2026Taku Okawara, Aoki Takanose, Kenji Koide +2KinematicsOdometry

    Department of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  15. RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty

    Jul 30, 2026Sangwoo Jung, Dongjae Lee, Chiyun Noh +14D RadarOdometry

    Department of Mechanical Engineering, SNU, Seoul, S. Korea

  16. Lifelong Localization in Dynamic Indoor Environments Combining Odometry with Sparse Distance Sampling

    Jul 20, 2026Michael M. Bilevich, Tomer Buber, Dan HalperinOdometryRobot Navigation

    Blavatnik School of Computer Science and Artificial Intelligence, Tel-Aviv University, Israel.

  17. 3D Lane Detection with Odometry for High-Speed Vehicle Racing

    Jul 15, 2026Omoruyi Atekha, John Subosits, Marcus GreiffAutonomous Racing3D Object Detection

    Massachusetts Institute of Technology (MIT), Cambridge, MA, USA. · Toyota Research Institute (TRI), 94022 Los Altos, CA, USA.

  18. Improving Map Consistency in Graph-Based LiDAR SLAM Through Information-Aware Odometry and Retroactive Loop Closure

    Jul 15, 2026Saurabh Gupta, Niklas Trekel, Louis Wiesmann +1OdometryImage Registration

    University of Bonn, Center for Robotics · Lamarr Institute for Machine Learning and Artificial Intelligence

  19. Stop to Decide: Latency-Aware Proprioceptive Navigation Primitives for Mapping-Free Quadruped Inspection

    Jul 13, 2026Hanting Suo, Haonan Yan, Liang Wang +1ProprioceptionOdometry

    School of Instrument Science and Engineering, Southeast University, Nanjing, China. · School of Electrical Engineering, Southeast University, Nanjing, China. · School of Mechanical Engineering, Southeast University, Nanjing, China.

  20. D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange

    Jul 9, 2026Kyle Biron-Gricken, James Richard ForbesIndoor LocalizationMulti-Robot Systems

  21. Analyzing Uncertainty in the Spatial Representation of the Kinematic Bicycle Model

    Jun 28, 2026Shafayat Abrar, M. Zaeem Baig, Shahir Ul Islam Anzal +1OdometryCovariance

    Dhanani School of Science and Engineering Habib University, Karachi 75290

  22. J-LAW: Joint Localization and Action-Conditioned World Modeling via Coupled Latent Factor Graphs

    Jun 27, 2026Guanqun Cao, Liang ChenLatent World ModelsLow-Latency Latent Planning

    Geely Technology Europe, Pumpgatan 1, 417 55 Gothenburg Sweden · State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, China

  23. FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry

    Jun 24, 2026Maximilian Leitenstern, Marcel Weinmann, Patrick Haft +3Robust Lidar-Inertial OdometryOdometry

    Institute of Automotive Technology, School of Engineering and Design, Technical University of Munich, Germany · NVIDIA Corp., USA

  24. Delta-Position Estimation-Based IMU Odometry: A Comparison of MLP and Kolmogorov-Arnold Networks

    Jun 24, 2026Osman Tokluoglu, Emin KeresteciInertial Navigation SystemsOdometry

    Department of Electrical and Electronics Engineering, Ankara Yıldırım Beyazıt University, Ankara, Türkiye · Department of Computer Engineering, TOBB University of Economics and Technology, Ankara, Türkiye

  25. Online Learning of Robust Legged Odometry with Minimal Exteroceptive Supervision

    Jun 19, 2026Abhijeet M. Kulkarni, Yuze Du, Guoquan HuangOdometryProprioception

    University of Delaware Newark, DE, USA

  26. An Infrastructure-less, Control-Independent Solution to Relative Localisation of a Team of Mobile Robots using Ranging Measurements

    Jun 18, 2026Paolo Golinelli, Tommaso Faraci, Daniele FontanelliMulti-Robot SystemsIndoor Localization

    Department of Industrial Engineering, University of Trento, Trento, Italy · Department of Information Engineering and Computer Science, University of Trento, Trento, Italy

  27. FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry

    Jun 17, 2026Zhiyu Chen, Chunran Zheng, Jiayu Wen +4Robust Lidar-Inertial OdometryOdometry

    College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China · Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China · College of Automation, Harbin Engineering University, Harbin 150001, China

  28. Learning Contact Representation for Leg Odometry

    Jun 3, 2026Emre Girgin, Cagri KilicGround Reaction ForcesOdometry

    Department of Aerospace Engineering · Embry Riddle Aeronautical University · United States

  29. PixVOD: Pixel-Distributed Direct Visual Odometry and Depth Estimation

    Jun 2, 2026Shinjeong Kim, Ignacio Alzugaray, Callum Rhodes +2Visual Inertial OdometryDepth Estimation

    Department of Computing, Imperial College London

  30. FusionCore: A 23-State Unscented Kalman Filter for IMU, Wheel Encoder, GPS, and Visual SLAM Fusion in ROS 2

    May 24, 2026Manan KharwarEvent-Guided Sensor-Level FusionOdometry

    Independent Researcher, Hamilton, ON, Canada

  31. OCELOT: Odometry and Contact Estimation for Legged Robots

    May 21, 2026Emre Girgin, Cagri KilicOdometryProprioception

    Department of Aerospace Engineering, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, USA.

  32. EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation

    May 20, 2026Rowan Border, Margarita ChliRobust Lidar-Inertial OdometryTwo-Dimensional Light Detection And Ranging

    Vision for Robotics Lab (V4RL), University of Cyprus, Cyprus · ETH Zurich, Switzerland

  33. Enhancing Graph-Based SLAM in GNSS-Denied environments by leveraging leg odometry

    May 19, 2026Léon Perruchot-Triboulet, Luc Jaulin, Kai XiaoRobust Lidar-Inertial OdometryOdometry

    Lab-STICC, ENSTA Campus Brest, France · LinXai Tech. Co., China

  34. Minimalist Visual Inertial Odometry

    May 19, 2026Francesco Pasti, Jeremy Klotz, Nicola Bellotto +1Visual Inertial OdometryOdometry

    Department of Information Engineering, University of Padua, Padua, Italy · Computer Science Department, Columbia University, New York, NY, USA

  35. SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP

    May 14, 2026Johannes Scherer, Sebastian Hirt, Henri MeeßRobust Lidar-Inertial Odometry3D Semantic Occupancy Prediction

    Fraunhofer IVI, 85049 Ingolstadt, Germany · Technische Hochschule Ingolstadt, 85049 Ingolstadt, Germany · Ancud IT-Beratung GmbH, 90478 Nürnberg, Germany

  36. Rebalancing gradient to improve self-supervised co-training of depth, odometry and optical flow predictions

    May 8, 2026Marwane Hariat, Antoine Manzanera, David FilliatOptical FlowDense Prediction

    1U2IS, ENSTA Paris, Institut Polytechnique de Paris, Palaiseau, France · 2INRIA FLOWERS

  37. PathPainter: Transferring the Generalization Ability of Image Generation Models to Embodied Navigation

    May 8, 2026Yijin Wang, Yuru Tian, Xijie Huang +5NavigationOdometry

    1Zhejiang University. · 2Differential Robotics. · 3Beihang University.

  38. Dr-PoGO: Direct Radar Pose-Graph Optimization

    May 6, 2026Cedric Le Gentil, Weican Li, Leonardo Brizi +1Simultaneous Localization And MappingOdometry

    Robotics Institute University of Toronto. · Department of Computer, Control, and Management Engineering “Antonio Ruberti”, Sapienza University of Rome.

  39. Pushing Radar Odometry Beyond the Pavement: Current Capabilities and Challenges

    Apr 27, 2026Shaunak Kolhe, Peng Jiang, Maggie Wigness +4OdometryRadar

    Texas A&M University · DEVCOM Army Research Laboratory

  40. Radar Odometry Subject to High Tilt Dynamics of Subarctic Environments

    Apr 21, 2026Matěj Boxan, William Larrivée-Hardy, François PomerleauInertial Navigation SystemsOdometry

    Northern Robotics Laboratory, Université Laval, Quebec, Canada. · Université Laval, Quebec, Canada.

  41. SL(C)AMma: Simultaneous Localisation, (Calibration) and Mapping With a Magnetometer Array

    Apr 21, 2026Thomas Edridge, Manon KokSimultaneous Localization And MappingOdometry

    1DCSC, Delft University of Technology, the Netherlands.

  42. Dual Pose-Graph Semantic Localization for Vision-Based Autonomous Drone Racing

    Apr 16, 2026David Perez-Saura, Miguel Fernandez-Cortizas, Alvaro J. Gaona +1Simultaneous Localization And MappingAutonomous Drones

    Computer Vision & Aerial Robotics Group, Universidad Polit´ecnica de Madrid, Madrid, Spain · Automation and Robotics Group (ARG-SnT), University of Luxembourg – SnT, Luxembourg

  43. H-RINS: Hierarchical Tightly-coupled Radar-Inertial State Estimation via Smoothing and Mapping

    Mar 14, 2026Ali Alridha Abdulkarim, Mikhail Litvinov, Dzmitry TsetserukouInertial Navigation SystemsInertial Measurement Units

    Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology

  44. Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar

    Mar 10, 2026Katya M. Papais, Wenda Zhao, Timothy D. BarfootRobust Lidar-Inertial OdometryLidar

    Institute for Aerospace Studies, University of Toronto, Canada

  45. Contact-Anchored Proprioceptive Odometry for Legged and Wheel-Legged Robots

    Feb 19, 2026Minxing Sun, Yao MaoOdometryProprioception

    Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China · Institute for Infocomm Research (I2R), Agency for Science, Technology and Research, Singapore. · Shenzhen Astralldynamics Technology.

  46. Super4DR: 4D Radar-centric Self-supervised Odometry and Gaussian-based Map Optimization

    Dec 10, 2025Zhiheng Li, Weihua Wang, Qiang Shen +24D RadarOdometry

    Zheng Fang*

  47. Monocular Visual Odometry without Calibration or Test-time Optimization

    Oct 2, 2025Vladimir Yugay, Duy-Kien Nguyen, Theo Gevers +2Visual Inertial OdometryCamera Intrinsics

    University of Amsterdam

  48. BEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots

    Sep 18, 2025Yufei Wei, Chenxiao Hu, Wangtao Lu +5Visual Inertial OdometryBird'S-Eye View

  49. DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs

    Mar 6, 2025Yibin Wu, Jian Kuang, Shahram Khorshidi +4OdometryProprioception

    Center for Robotics, University of Bonn, Germany · GNSS Research Center, Wuhan University, China · Humanoid Robots Lab, University of Bonn, Germany +1

  50. 2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields

    Oct 7, 2024Cedric Le Gentil, Raphael Falque, Daniil Lisus +1Robust Lidar-Inertial OdometryLidar

    Robotics Institute, University of Toronto Institute for Aerospace Studies, Canada · Robotics Institute, University of Technology Sydney, Australia

  51. IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions

    Date pendingSeuffo Akouan ha Ngoune, Alessandro Toschi, Paolo Burgio +1Inertial Measurement UnitsVehicle Dynamics

    University of Modena and Reggio Emilia, Italy